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<div class="title">integral_image_normal.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_INTEGRALIMAGE_BASED_NORMAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_INTEGRALIMAGE_BASED_NORMAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/integral_image2D.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html">   68</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">IntegralImageNormalEstimation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a10da239414888271aeb02972f7420780">   81</a></span>&#160;        <span class="keyword">enum</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a10da239414888271aeb02972f7420780">BorderPolicy</a></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          BORDER_POLICY_IGNORE,</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          BORDER_POLICY_MIRROR</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        };</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a1ad3ff9e39b97a8e4294b71ab13031ff">   98</a></span>&#160;      <span class="keyword">enum</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1ad3ff9e39b97a8e4294b71ab13031ff">NormalEstimationMethod</a></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        COVARIANCE_MATRIX,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        AVERAGE_3D_GRADIENT,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        AVERAGE_DEPTH_CHANGE,</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        SIMPLE_3D_GRADIENT</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      };</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a>  PointCloudIn;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> PointCloudOut;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a49efd58398769f580d7b177adaa23fbc">  110</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a49efd58398769f580d7b177adaa23fbc">IntegralImageNormalEstimation</a> ()</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        : <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1837784fa20205739013c9df638468f5">normal_estimation_method_</a>(AVERAGE_3D_GRADIENT)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a2fd09580d6e2e617c605b294aba5043d">border_policy_</a> (BORDER_POLICY_IGNORE)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ae61a7763129eaec087768796ee431cc3">rect_width_</a> (0), rect_width_2_ (0), rect_width_4_ (0)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a9fddd3a5350251f9a2c8ccbc16a35cd5">rect_height_</a> (0), rect_height_2_ (0), rect_height_4_ (0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a55d0c3687eefeefc28b8348d85bbb1d7">distance_threshold_</a> (0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#af125b60aeeef1334a25d24e5c2756d87">integral_image_DX_</a> (false)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a33e102529db567625037f7e15bb9bb4d">integral_image_DY_</a> (false)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6d6deebd64e2fab423a97ef61387e94a">integral_image_depth_</a> (false)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a903b437af66404b7f634f69a45a493ec">integral_image_XYZ_</a> (true)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a0c80b5461d38e8d9455f4aa5ad1a8a83">diff_x_</a> (NULL)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#afe1b1e088f89b386279ad3581fe9b642">diff_y_</a> (NULL)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a4803e2c88084b1008c236868f8d53864">depth_data_</a> (NULL)</div>
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<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a66bbb5f2f74a9f8ccfaba482037cae47">use_depth_dependent_smoothing_</a> (false)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#abefcbb0a1e92132dd87ccda6d55ccb69">max_depth_change_factor_</a> (20.0f*0.001f)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        , normal_smoothing_size_ (10.0f)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a84d1ed7c0ff6e1cc87ce8a36083130e8">init_covariance_matrix_</a> (false)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#adf25d44bad467ec0e351426f80d1b4d0">init_average_3d_gradient_</a> (false)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a262f078f6cbd2b7d3bcd579b7980f887">init_simple_3d_gradient_</a> (false)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a5680182b5bb43369faf0f9dcff1d07a2">init_depth_change_</a> (false)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a> (0.0f)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        , vpy_ (0.0f)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        , vpz_ (0.0f)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        , <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">use_sensor_origin_</a> (true)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;IntegralImagesNormalEstimation&quot;</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a>.reset ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a> = 1;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a91460b2cb7e001192bee7df2450d3970">~IntegralImageNormalEstimation</a> ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a51049e633396d653658a771a7be0bb9d">setRectSize</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> width, <span class="keyword">const</span> <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a1e3a8c0f630638e63146d18690d69920">  155</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1e3a8c0f630638e63146d18690d69920">setBorderPolicy</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a10da239414888271aeb02972f7420780">BorderPolicy</a> border_policy)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a2fd09580d6e2e617c605b294aba5043d">border_policy_</a> = border_policy;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#abd934a08c5d9bf148833a21e6892303a">computePointNormal</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pos_x, <span class="keyword">const</span> <span class="keywordtype">int</span> pos_y, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> point_index, PointOutT &amp;normal);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ae4653eef47ea949d65d16178549aae1a">computePointNormalMirror</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pos_x, <span class="keyword">const</span> <span class="keywordtype">int</span> pos_y, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> point_index, PointOutT &amp;normal);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#accacab0813722377331fd6315a4d5d13">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#accacab0813722377331fd6315a4d5d13">setMaxDepthChangeFactor</a> (<span class="keywordtype">float</span> max_depth_change_factor)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#abefcbb0a1e92132dd87ccda6d55ccb69">max_depth_change_factor_</a> = max_depth_change_factor;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">  193</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">setNormalSmoothingSize</a> (<span class="keywordtype">float</span> normal_smoothing_size)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordflow">if</span> (normal_smoothing_size &lt;= 0)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::setNormalSmoothingSize] Invalid normal smoothing size given! (%f). Allowed ranges are: 0 &lt; N. Defaulting to %f.\n&quot;</span>, </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                      <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a>.c_str (), normal_smoothing_size, normal_smoothing_size_);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        normal_smoothing_size_ = normal_smoothing_size;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">  217</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">setNormalEstimationMethod</a> (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1ad3ff9e39b97a8e4294b71ab13031ff">NormalEstimationMethod</a> normal_estimation_method)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1837784fa20205739013c9df638468f5">normal_estimation_method_</a> = normal_estimation_method;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a1da9e189ffb19ba89044a531242656fd">  226</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1da9e189ffb19ba89044a531242656fd">setDepthDependentSmoothing</a> (<span class="keywordtype">bool</span> use_depth_dependent_smoothing)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a66bbb5f2f74a9f8ccfaba482037cae47">use_depth_dependent_smoothing_</a> = use_depth_dependent_smoothing;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">  235</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr &amp;cloud)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">if</span> (!cloud-&gt;isOrganized ())</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).\n&quot;</span>);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a84d1ed7c0ff6e1cc87ce8a36083130e8">init_covariance_matrix_</a> = <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#adf25d44bad467ec0e351426f80d1b4d0">init_average_3d_gradient_</a> = <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a5680182b5bb43369faf0f9dcff1d07a2">init_depth_change_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">use_sensor_origin_</a>)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a> = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (0);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          vpy_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (1);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          vpz_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (2);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="comment">// Initialize the correct data structure based on the normal estimation method chosen</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">initData</a> ();</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a84ba79488f0068c287293f08a90c5720">  260</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a84ba79488f0068c287293f08a90c5720">getDistanceMap</a> ()</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a25d9fff5422e0c591e78f04c4e9ca17c">distance_map_</a>);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ac5aa14562fc0cca24be8cc43860d896a">  271</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac5aa14562fc0cca24be8cc43860d896a">setViewPoint</a> (<span class="keywordtype">float</span> vpx, <span class="keywordtype">float</span> vpy, <span class="keywordtype">float</span> vpz)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a> = vpx;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">use_sensor_origin_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a6919297725dcf7a83ac4e6e4190a09d4">  288</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6919297725dcf7a83ac4e6e4190a09d4">getViewPoint</a> (<span class="keywordtype">float</span> &amp;vpx, <span class="keywordtype">float</span> &amp;vpy, <span class="keywordtype">float</span> &amp;vpz)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        vpx = <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        vpy = vpy_;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        vpz = vpz_;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a50a6f56c4327ae316c825b3ba396b992">  300</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a50a6f56c4327ae316c825b3ba396b992">useSensorOriginAsViewPoint</a> ()</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">use_sensor_origin_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a> = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (0);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          vpy_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (1);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          vpz_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (2);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a> = 0;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          vpy_ = 0;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          vpz_ = 0;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#af72a8687d1eae7bb34ee730ea3f7b5a8">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ab710003086195c2724920eae92538e48">computeFeatureFull</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* distance_map, <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; bad_point, PointCloudOut&amp; output);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac19f02fb42b8330569161f23adf03994">computeFeaturePart</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* distance_map, <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; bad_point, PointCloudOut&amp; output);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">initData</a> ();</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a52a687473809f48f6a6ba4238767cb63">  358</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a52a687473809f48f6a6ba4238767cb63">flipNormalTowardsViewpoint</a> (<span class="keyword">const</span> PointInT &amp;point, </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;                                  <span class="keywordtype">float</span> vp_x, <span class="keywordtype">float</span> vp_y, <span class="keywordtype">float</span> vp_z,</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                                  <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz)</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="comment">// See if we need to flip any plane normals</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        vp_x -= point.x;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        vp_y -= point.y;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        vp_z -= point.z;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="comment">// Dot product between the (viewpoint - point) and the plane normal</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="keywordtype">float</span> cos_theta = (vp_x * nx + vp_y * ny + vp_z * nz);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        <span class="comment">// Flip the plane normal</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordflow">if</span> (cos_theta &lt; 0)</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          nx *= -1;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;          ny *= -1;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          nz *= -1;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      }</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a1837784fa20205739013c9df638468f5">  385</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1ad3ff9e39b97a8e4294b71ab13031ff">NormalEstimationMethod</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a1837784fa20205739013c9df638468f5">normal_estimation_method_</a>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a2fd09580d6e2e617c605b294aba5043d">  388</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a10da239414888271aeb02972f7420780">BorderPolicy</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a2fd09580d6e2e617c605b294aba5043d">border_policy_</a>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ae61a7763129eaec087768796ee431cc3">  391</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ae61a7763129eaec087768796ee431cc3">rect_width_</a>;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keywordtype">int</span> rect_width_2_;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keywordtype">int</span> rect_width_4_;</div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a9fddd3a5350251f9a2c8ccbc16a35cd5">  395</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a9fddd3a5350251f9a2c8ccbc16a35cd5">rect_height_</a>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordtype">int</span> rect_height_2_;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="keywordtype">int</span> rect_height_4_;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a55d0c3687eefeefc28b8348d85bbb1d7">  400</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a55d0c3687eefeefc28b8348d85bbb1d7">distance_threshold_</a>;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#af125b60aeeef1334a25d24e5c2756d87">  403</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#af125b60aeeef1334a25d24e5c2756d87">integral_image_DX_</a>;</div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a33e102529db567625037f7e15bb9bb4d">  405</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a33e102529db567625037f7e15bb9bb4d">integral_image_DY_</a>;</div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a6d6deebd64e2fab423a97ef61387e94a">  407</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 1&gt;</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6d6deebd64e2fab423a97ef61387e94a">integral_image_depth_</a>;</div>
<div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a903b437af66404b7f634f69a45a493ec">  409</a></span>&#160;      <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a903b437af66404b7f634f69a45a493ec">integral_image_XYZ_</a>;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a0c80b5461d38e8d9455f4aa5ad1a8a83">  412</a></span>&#160;      <span class="keywordtype">float</span> *<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a0c80b5461d38e8d9455f4aa5ad1a8a83">diff_x_</a>;</div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#afe1b1e088f89b386279ad3581fe9b642">  414</a></span>&#160;      <span class="keywordtype">float</span> *<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#afe1b1e088f89b386279ad3581fe9b642">diff_y_</a>;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a4803e2c88084b1008c236868f8d53864">  417</a></span>&#160;      <span class="keywordtype">float</span> *<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a4803e2c88084b1008c236868f8d53864">depth_data_</a>;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a25d9fff5422e0c591e78f04c4e9ca17c">  420</a></span>&#160;      <span class="keywordtype">float</span> *<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a25d9fff5422e0c591e78f04c4e9ca17c">distance_map_</a>;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a66bbb5f2f74a9f8ccfaba482037cae47">  423</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a66bbb5f2f74a9f8ccfaba482037cae47">use_depth_dependent_smoothing_</a>;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#abefcbb0a1e92132dd87ccda6d55ccb69">  426</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#abefcbb0a1e92132dd87ccda6d55ccb69">max_depth_change_factor_</a>;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keywordtype">float</span> normal_smoothing_size_;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a84d1ed7c0ff6e1cc87ce8a36083130e8">  432</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a84d1ed7c0ff6e1cc87ce8a36083130e8">init_covariance_matrix_</a>;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#adf25d44bad467ec0e351426f80d1b4d0">  435</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#adf25d44bad467ec0e351426f80d1b4d0">init_average_3d_gradient_</a>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a262f078f6cbd2b7d3bcd579b7980f887">  438</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a262f078f6cbd2b7d3bcd579b7980f887">init_simple_3d_gradient_</a>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a5680182b5bb43369faf0f9dcff1d07a2">  441</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a5680182b5bb43369faf0f9dcff1d07a2">init_depth_change_</a>;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">  445</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">vpx_</a>, vpy_, vpz_;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">  448</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">use_sensor_origin_</a>;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a499e7003cebffe7cf7504f0397abb3a5">initCompute</a> ();</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a168c03eb1553206db701656fdb0a69ba">initCovarianceMatrixMethod</a> ();</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#aea7b9064b3ccab7deb396ec16ada6200">initAverage3DGradientMethod</a> ();</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#adab913e619caca17ebaf950f07a7dc5b">initAverageDepthChangeMethod</a> ();</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6f9aab3bed5a81f6d81bbf5495e7514f">initSimple3DGradientMethod</a> ();</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  };</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;}</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="preprocessor">#pragma GCC diagnostic warning &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/integral_image_normal.hpp&gt;</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a3f68793061ef0973bdacfea56cf5ae21"><div class="ttname"><a href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">pcl::Feature::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a7ce882e12198b2b2373cc31ba27b0ef1"><div class="ttname"><a href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">pcl::Feature::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> feature.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image2_d_html"><div class="ttname"><a href="classpcl_1_1_integral_image2_d.html">pcl::IntegralImage2D&lt; float, 3 &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a01207a15920b58b89d97f7c650bfdf22"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a01207a15920b58b89d97f7c650bfdf22">pcl::IntegralImageNormalEstimation::use_sensor_origin_</a></div><div class="ttdeci">bool use_sensor_origin_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a03cc1e146b6041a1d3d5a989ad171ee2"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">pcl::IntegralImageNormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a0c80b5461d38e8d9455f4aa5ad1a8a83"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a0c80b5461d38e8d9455f4aa5ad1a8a83">pcl::IntegralImageNormalEstimation::diff_x_</a></div><div class="ttdeci">float * diff_x_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:412</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a10da239414888271aeb02972f7420780"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a10da239414888271aeb02972f7420780">pcl::IntegralImageNormalEstimation::BorderPolicy</a></div><div class="ttdeci">BorderPolicy</div><div class="ttdoc">Different types of border handling.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a168c03eb1553206db701656fdb0a69ba"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a168c03eb1553206db701656fdb0a69ba">pcl::IntegralImageNormalEstimation::initCovarianceMatrixMethod</a></div><div class="ttdeci">void initCovarianceMatrixMethod()</div><div class="ttdoc">Internal initialization method for COVARIANCE_MATRIX estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a1837784fa20205739013c9df638468f5"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a1837784fa20205739013c9df638468f5">pcl::IntegralImageNormalEstimation::normal_estimation_method_</a></div><div class="ttdeci">NormalEstimationMethod normal_estimation_method_</div><div class="ttdoc">The normal estimation method to use. Currently, 3 implementations are provided:</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:385</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a1ad3ff9e39b97a8e4294b71ab13031ff"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a1ad3ff9e39b97a8e4294b71ab13031ff">pcl::IntegralImageNormalEstimation::NormalEstimationMethod</a></div><div class="ttdeci">NormalEstimationMethod</div><div class="ttdoc">Different normal estimation methods.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a1da9e189ffb19ba89044a531242656fd"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a1da9e189ffb19ba89044a531242656fd">pcl::IntegralImageNormalEstimation::setDepthDependentSmoothing</a></div><div class="ttdeci">void setDepthDependentSmoothing(bool use_depth_dependent_smoothing)</div><div class="ttdoc">Set whether to use depth depending smoothing or not</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a1e3a8c0f630638e63146d18690d69920"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a1e3a8c0f630638e63146d18690d69920">pcl::IntegralImageNormalEstimation::setBorderPolicy</a></div><div class="ttdeci">void setBorderPolicy(const BorderPolicy border_policy)</div><div class="ttdoc">Sets the policy for handling borders.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a214361c92cfa4fb307f973638b71663c"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">pcl::IntegralImageNormalEstimation::initData</a></div><div class="ttdeci">void initData()</div><div class="ttdoc">Initialize the data structures, based on the normal estimation method chosen.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:56</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a25d9fff5422e0c591e78f04c4e9ca17c"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a25d9fff5422e0c591e78f04c4e9ca17c">pcl::IntegralImageNormalEstimation::distance_map_</a></div><div class="ttdeci">float * distance_map_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:420</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a262f078f6cbd2b7d3bcd579b7980f887"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a262f078f6cbd2b7d3bcd579b7980f887">pcl::IntegralImageNormalEstimation::init_simple_3d_gradient_</a></div><div class="ttdeci">bool init_simple_3d_gradient_</div><div class="ttdoc">True when a dataset has been received and the simple 3d gradient data has been initialized.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:438</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a2fd09580d6e2e617c605b294aba5043d"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a2fd09580d6e2e617c605b294aba5043d">pcl::IntegralImageNormalEstimation::border_policy_</a></div><div class="ttdeci">BorderPolicy border_policy_</div><div class="ttdoc">The policy for handling borders.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:388</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a33e102529db567625037f7e15bb9bb4d"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a33e102529db567625037f7e15bb9bb4d">pcl::IntegralImageNormalEstimation::integral_image_DY_</a></div><div class="ttdeci">IntegralImage2D&lt; float, 3 &gt; integral_image_DY_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:405</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a40c07d1b44f4107d695842fcff3a87ce"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a40c07d1b44f4107d695842fcff3a87ce">pcl::IntegralImageNormalEstimation::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the viewpoint (&quot;pinhole&quot; camera model assumed). For per point viewpoints,...</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:445</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a4803e2c88084b1008c236868f8d53864"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a4803e2c88084b1008c236868f8d53864">pcl::IntegralImageNormalEstimation::depth_data_</a></div><div class="ttdeci">float * depth_data_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:417</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a499e7003cebffe7cf7504f0397abb3a5"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a499e7003cebffe7cf7504f0397abb3a5">pcl::IntegralImageNormalEstimation::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:1183</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a49efd58398769f580d7b177adaa23fbc"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a49efd58398769f580d7b177adaa23fbc">pcl::IntegralImageNormalEstimation::IntegralImageNormalEstimation</a></div><div class="ttdeci">IntegralImageNormalEstimation()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a50a6f56c4327ae316c825b3ba396b992"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a50a6f56c4327ae316c825b3ba396b992">pcl::IntegralImageNormalEstimation::useSensorOriginAsViewPoint</a></div><div class="ttdeci">void useSensorOriginAsViewPoint()</div><div class="ttdoc">sets whether the sensor origin or a user given viewpoint should be used. After this method,...</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:300</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a51049e633396d653658a771a7be0bb9d"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a51049e633396d653658a771a7be0bb9d">pcl::IntegralImageNormalEstimation::setRectSize</a></div><div class="ttdeci">void setRectSize(const int width, const int height)</div><div class="ttdoc">Set the regions size which is considered for normal estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:93</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a52a687473809f48f6a6ba4238767cb63"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a52a687473809f48f6a6ba4238767cb63">pcl::IntegralImageNormalEstimation::flipNormalTowardsViewpoint</a></div><div class="ttdeci">void flipNormalTowardsViewpoint(const PointInT &amp;point, float vp_x, float vp_y, float vp_z, float &amp;nx, float &amp;ny, float &amp;nz)</div><div class="ttdoc">Flip (in place) the estimated normal of a point towards a given viewpoint</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:358</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a55d0c3687eefeefc28b8348d85bbb1d7"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a55d0c3687eefeefc28b8348d85bbb1d7">pcl::IntegralImageNormalEstimation::distance_threshold_</a></div><div class="ttdeci">float distance_threshold_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:400</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a5680182b5bb43369faf0f9dcff1d07a2"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a5680182b5bb43369faf0f9dcff1d07a2">pcl::IntegralImageNormalEstimation::init_depth_change_</a></div><div class="ttdeci">bool init_depth_change_</div><div class="ttdoc">True when a dataset has been received and the depth change data has been initialized.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:441</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a66bbb5f2f74a9f8ccfaba482037cae47"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a66bbb5f2f74a9f8ccfaba482037cae47">pcl::IntegralImageNormalEstimation::use_depth_dependent_smoothing_</a></div><div class="ttdeci">bool use_depth_dependent_smoothing_</div><div class="ttdoc">Smooth data based on depth (true/false).</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6919297725dcf7a83ac4e6e4190a09d4"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6919297725dcf7a83ac4e6e4190a09d4">pcl::IntegralImageNormalEstimation::getViewPoint</a></div><div class="ttdeci">void getViewPoint(float &amp;vpx, float &amp;vpy, float &amp;vpz)</div><div class="ttdoc">Get the viewpoint.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6bde05e6637af21bb5f970c9feba4fc0"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">pcl::IntegralImageNormalEstimation::setNormalEstimationMethod</a></div><div class="ttdeci">void setNormalEstimationMethod(NormalEstimationMethod normal_estimation_method)</div><div class="ttdoc">Set the normal estimation method. The current implemented algorithms are:</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6d6deebd64e2fab423a97ef61387e94a"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6d6deebd64e2fab423a97ef61387e94a">pcl::IntegralImageNormalEstimation::integral_image_depth_</a></div><div class="ttdeci">IntegralImage2D&lt; float, 1 &gt; integral_image_depth_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6f9aab3bed5a81f6d81bbf5495e7514f"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6f9aab3bed5a81f6d81bbf5495e7514f">pcl::IntegralImageNormalEstimation::initSimple3DGradientMethod</a></div><div class="ttdeci">void initSimple3DGradientMethod()</div><div class="ttdoc">Internal initialization method for SIMPLE_3D_GRADIENT estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a84ba79488f0068c287293f08a90c5720"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a84ba79488f0068c287293f08a90c5720">pcl::IntegralImageNormalEstimation::getDistanceMap</a></div><div class="ttdeci">float * getDistanceMap()</div><div class="ttdoc">Returns a pointer to the distance map which was computed internally</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a84d1ed7c0ff6e1cc87ce8a36083130e8"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a84d1ed7c0ff6e1cc87ce8a36083130e8">pcl::IntegralImageNormalEstimation::init_covariance_matrix_</a></div><div class="ttdeci">bool init_covariance_matrix_</div><div class="ttdoc">True when a dataset has been received and the covariance_matrix data has been initialized.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:432</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a903b437af66404b7f634f69a45a493ec"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a903b437af66404b7f634f69a45a493ec">pcl::IntegralImageNormalEstimation::integral_image_XYZ_</a></div><div class="ttdeci">IntegralImage2D&lt; float, 3 &gt; integral_image_XYZ_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:409</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a91460b2cb7e001192bee7df2450d3970"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a91460b2cb7e001192bee7df2450d3970">pcl::IntegralImageNormalEstimation::~IntegralImageNormalEstimation</a></div><div class="ttdeci">virtual ~IntegralImageNormalEstimation()</div><div class="ttdoc">Destructor</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a9fddd3a5350251f9a2c8ccbc16a35cd5"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a9fddd3a5350251f9a2c8ccbc16a35cd5">pcl::IntegralImageNormalEstimation::rect_height_</a></div><div class="ttdeci">int rect_height_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:395</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ab710003086195c2724920eae92538e48"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ab710003086195c2724920eae92538e48">pcl::IntegralImageNormalEstimation::computeFeatureFull</a></div><div class="ttdeci">void computeFeatureFull(const float *distance_map, const float &amp;bad_point, PointCloudOut &amp;output)</div><div class="ttdoc">Computes the normal for the complete cloud.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:829</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_abd934a08c5d9bf148833a21e6892303a"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#abd934a08c5d9bf148833a21e6892303a">pcl::IntegralImageNormalEstimation::computePointNormal</a></div><div class="ttdeci">void computePointNormal(const int pos_x, const int pos_y, const unsigned point_index, PointOutT &amp;normal)</div><div class="ttdoc">Computes the normal at the specified position.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:207</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_abefcbb0a1e92132dd87ccda6d55ccb69"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#abefcbb0a1e92132dd87ccda6d55ccb69">pcl::IntegralImageNormalEstimation::max_depth_change_factor_</a></div><div class="ttdeci">float max_depth_change_factor_</div><div class="ttdoc">Threshold for detecting depth discontinuities</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:426</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac19f02fb42b8330569161f23adf03994"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac19f02fb42b8330569161f23adf03994">pcl::IntegralImageNormalEstimation::computeFeaturePart</a></div><div class="ttdeci">void computeFeaturePart(const float *distance_map, const float &amp;bad_point, PointCloudOut &amp;output)</div><div class="ttdoc">Computes the normal for part of the cloud specified by indices_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:1016</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac5aa14562fc0cca24be8cc43860d896a"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac5aa14562fc0cca24be8cc43860d896a">pcl::IntegralImageNormalEstimation::setViewPoint</a></div><div class="ttdeci">void setViewPoint(float vpx, float vpy, float vpz)</div><div class="ttdoc">Set the viewpoint.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:271</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac833637b98338bafa4c38925ab245927"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">pcl::IntegralImageNormalEstimation::setNormalSmoothingSize</a></div><div class="ttdeci">void setNormalSmoothingSize(float normal_smoothing_size)</div><div class="ttdoc">Set the normal smoothing size</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_accacab0813722377331fd6315a4d5d13"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#accacab0813722377331fd6315a4d5d13">pcl::IntegralImageNormalEstimation::setMaxDepthChangeFactor</a></div><div class="ttdeci">void setMaxDepthChangeFactor(float max_depth_change_factor)</div><div class="ttdoc">The depth change threshold for computing object borders</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_adab913e619caca17ebaf950f07a7dc5b"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#adab913e619caca17ebaf950f07a7dc5b">pcl::IntegralImageNormalEstimation::initAverageDepthChangeMethod</a></div><div class="ttdeci">void initAverageDepthChangeMethod()</div><div class="ttdoc">Internal initialization method for AVERAGE_DEPTH_CHANGE estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_adf25d44bad467ec0e351426f80d1b4d0"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#adf25d44bad467ec0e351426f80d1b4d0">pcl::IntegralImageNormalEstimation::init_average_3d_gradient_</a></div><div class="ttdeci">bool init_average_3d_gradient_</div><div class="ttdoc">True when a dataset has been received and the average 3d gradient data has been initialized.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:435</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ae4653eef47ea949d65d16178549aae1a"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ae4653eef47ea949d65d16178549aae1a">pcl::IntegralImageNormalEstimation::computePointNormalMirror</a></div><div class="ttdeci">void computePointNormalMirror(const int pos_x, const int pos_y, const unsigned point_index, PointOutT &amp;normal)</div><div class="ttdoc">Computes the normal at the specified position with mirroring for border handling.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:462</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ae61a7763129eaec087768796ee431cc3"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ae61a7763129eaec087768796ee431cc3">pcl::IntegralImageNormalEstimation::rect_width_</a></div><div class="ttdeci">int rect_width_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:391</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_aea7b9064b3ccab7deb396ec16ada6200"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#aea7b9064b3ccab7deb396ec16ada6200">pcl::IntegralImageNormalEstimation::initAverage3DGradientMethod</a></div><div class="ttdeci">void initAverage3DGradientMethod()</div><div class="ttdoc">Internal initialization method for AVERAGE_3D_GRADIENT estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:141</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_af125b60aeeef1334a25d24e5c2756d87"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#af125b60aeeef1334a25d24e5c2756d87">pcl::IntegralImageNormalEstimation::integral_image_DX_</a></div><div class="ttdeci">IntegralImage2D&lt; float, 3 &gt; integral_image_DX_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:403</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_af72a8687d1eae7bb34ee730ea3f7b5a8"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#af72a8687d1eae7bb34ee730ea3f7b5a8">pcl::IntegralImageNormalEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Computes the normal for the complete cloud or only indices_ if provided.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:722</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_afe1b1e088f89b386279ad3581fe9b642"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#afe1b1e088f89b386279ad3581fe9b642">pcl::IntegralImageNormalEstimation::diff_y_</a></div><div class="ttdeci">float * diff_y_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:414</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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